Staff Robotics Control Engineer - Whole-Body Control (Wheeled Platform)
HumanoidVisit Humanoid website
UK-based AI and robotics company building commercially scalable humanoid robots for industrial deployment.
London, United Kingdom
Funding history
About Humanoid
Humanoid develops industrial humanoid robots and its proprietary KinetIQ AI framework for real-world tasks across manufacturing, logistics, and related environments.
Skills
Candidate Availability
Required and preferred rules are kept separate and reflect the wording in the original posting.
About the Role
You will lead the evolution of whole-body control for a wheeled humanoid platform. You will develop control algorithms, dynamic models, compliance behaviours, safety interfaces, and predictive control approaches. You will define evaluation metrics, validate changes in simulation and on hardware, mentor engineers, and align control constraints with mechanical design.
Requirements
- Expertise in optimisation-based whole-body control, including hierarchical and weighted QP formulations
- Knowledge of task prioritisation, constraint handling, and real-time numerical optimisation
- Knowledge of operational-space control, task-space control, inverse dynamics, IK, redundancy resolution, nullspace projection, impedance control, admittance control, contact control, and force control
- Working knowledge of MPC for whole-body or mobile-manipulation control
- Experience deploying whole-body controllers on real high-DoF hardware
- Experience with QP and NLP solvers, including conditioning, infeasibility, warm starting, and solve-time budgets
- Knowledge of rigid-body kinematics and dynamics, URDF modelling, system identification, and payload estimation
- Expert modern C++
- Python for analysis and prototyping
- Experience delivering production-reliable control algorithms
- Technical leadership and mentoring experience
Responsibilities
- Lead the evolution of the whole-body controller, including task formulation, prioritisation, constraints, and solver selection
- Coordinate wheeled base, torso, and dual-arm motion in a unified control formulation
- Own self-collision avoidance, joint and velocity limits, singularity handling, and solver-failure recovery
- Evaluate and develop MPC-based whole-body control
- Develop dynamic models, system identification, and online payload estimation
- Advance impedance, admittance, and force control behaviours
- Integrate safety requests such as velocity caps, controlled deceleration, and constrained operating envelopes
- Define deterministic performance metrics and evaluations in simulation and on hardware
- Mentor control engineers and review consequential changes
- Work with hardware teams to align control constraints and mechanical design
Benefits
- Stock options
- 30+ paid days off, including annual leave, UK bank holidays, and company closure days
- Private healthcare
- Pension scheme with 8% total contribution
- Free daily breakfast, catered lunch, and snacks